A Varied Weights Method for the Kinematic Control of Redundant Manipulators With Multiple Constraints. Xiang, J., Zhong, C., & Wei, W. IEEE Transactions on Robotics, 28(2):330–340, April, 2012. doi abstract bibtex A varied weights (VW) method is proposed in this paper for the kinematic control of redundant manipulators with multiple constraints. A weight factor rule to reflect the transition of the state of constraint subtask between activeness and inactiveness is presented. Each constraint has a VW factor in such a way that every time only the main task and the active constraint subtasks are considered. A new concept of effective singular value is presented for the design of damping factors to avoid the pseudosingularity arising from the transition of weight factors. The experiments on the seven-degree-of-freedom (7-DOF) Ping-Pong manipulator illustrate the efficacy of the proposed VW method.
@article{xiang_varied_2012,
title = {A {Varied} {Weights} {Method} for the {Kinematic} {Control} of {Redundant} {Manipulators} {With} {Multiple} {Constraints}},
volume = {28},
issn = {1552-3098},
doi = {10.1109/TRO.2011.2173834},
abstract = {A varied weights (VW) method is proposed in this paper for the kinematic control of redundant manipulators with multiple constraints. A weight factor rule to reflect the transition of the state of constraint subtask between activeness and inactiveness is presented. Each constraint has a VW factor in such a way that every time only the main task and the active constraint subtasks are considered. A new concept of effective singular value is presented for the design of damping factors to avoid the pseudosingularity arising from the transition of weight factors. The experiments on the seven-degree-of-freedom (7-DOF) Ping-Pong manipulator illustrate the efficacy of the proposed VW method.},
number = {2},
journal = {IEEE Transactions on Robotics},
author = {Xiang, J. and Zhong, C. and Wei, W.},
month = apr,
year = {2012},
keywords = {Aerospace electronics, Jacobian matrices, Joints, Vectors, damping, damping factor design, effective singular value, kinematic control, kinematics, manipulators, multiple constraints, redundant manipulator, redundant manipulators, seven-degree-of-freedom ping-pong manipulator, varied weights (VW) method, varied weights method, weight factor rule},
pages = {330--340}
}
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